Tilting vehicle with tilting chassis with direct tilting control and steering

Abstract

The invention relates to a tilting vehicle with at least one tilting suspension with direct tilting control and steering, comprising a two-track tilting suspension on the front axle and / or a two-track tilting suspension on the rear axle, a vehicle frame (1), a driver's seat (16), a roll control shaft (7), a handlebar (10), wheels (5) and / or skis, wherein the driver's seat (16) is attached to the vehicle frame (1) and has a seated and / or nearly reclining driver position with legs extended in the direction of travel, the roll control shaft (7) is rotatably mounted about a roll control axis (12) in the vehicle frame (1), the roll control axis (12) is aligned largely parallel to the longitudinal axis of the vehicle, the handlebar (10) is rotatably mounted in the roll control shaft (7) about a handlebar axis (14), the handlebar axis (14) is aligned largely orthogonal (90 ±10°) to the roll control axis (12). is characterized bythat the at least two-track tilting mechanism enables the vehicle frame (1) to tilt about the vehicle roll axis and has a sprung independent wheel suspension and / or individual ski suspension, the steering link (10) can be rotated about the roll control axis (12) and about the steering link axis (14), a rotation of the steering link (10) about the steering link axis (14) causes the tilting vehicle to steer and a rotation of the steering link (10) about the roll control axis (12) causes the tilting vehicle to tilt.

Description

[0001] The invention relates to a tilting vehicle with at least one tilting chassis with direct tilt control and steering.

[0002] Tilting vehicles differ from conventional vehicles in that the vehicle frame and body can be tilted towards the inside of the curve when cornering.

[0003] Tilting vehicles can be divided into two categories according to their tilt control: vehicles with direct tilt control and vehicles with indirect tilt control.

[0004] With indirect tilt control, the driver controls the vehicle tilt indirectly using the steering wheel by performing steering maneuvers that achieve a constant balance with the centrifugal force.

[0005] The most well-known vehicle with indirect tilt control is the conventional bicycle. Here, the vehicle's tilt is controlled indirectly via a counter-steering maneuver. This means that if the rider wants to make a right turn, for example, they must first steer left, causing the vehicle to tilt to the right due to centrifugal force. If the vehicle is tilted to the right, the rider can steer right and thus make the desired right turn.

[0006] Indirect tilt control using counter-steering requires a certain amount of practice from the rider, but this is usually learnable. Every cyclist and / or motorcyclist has mastered this technique and performs it intuitively.

[0007] Indirect tilt control requires no additional force from the driver other than steering forces to tilt the vehicle. The driver uses centrifugal force to both tilt and upright the vehicle.

[0008] Indirect tilt control requires a minimum vehicle speed because without the presence of speed there is no centrifugal force, which is an essential component of indirect tilt control.

[0009] If the speed is insufficient, a vehicle with indirect tilt control becomes unstable. With a conventional bicycle, this problem is easily solved by the rider placing one foot on the road and stabilizing the vehicle. However, such a foot-on-the-road maneuver requires a suitable, usually upright, rider position with legs stretched out. Such an upright rider position is not available in all vehicles. For example, a recumbent bicycle lacks such an upright rider position, making it difficult to place one foot on the road to stabilize the recumbent bicycle in stop-and-go traffic.

[0010] Three-wheeled bicycles and / or three-wheeled motorcycles with tilting technology, so-called tilting trikes, are known in the art. These can be divided into two categories based on the rider position: tilting trikes with an upright rider position, comparable to the rider position of a conventional bicycle or motorcycle, and tilting trikes with a reclining rider position, hereinafter referred to as tilting-reclining trikes. Tilting-reclining trikes are characterized by a seated or nearly reclining rider position, with the rider's legs stretched out in the direction of travel.

[0011] A tilting trike with an upright rider position can be steered similarly to a conventional bicycle using indirect tilt control. If the rider is insufficiently fast, they can stabilize the trike by placing a foot on the road. This means that a tilting trike with an upright rider position can be easily steered using indirect tilt control, even in stop-and-go traffic.

[0012] With a tilt-reclining trike, the rider's almost reclining position makes it difficult to place a foot on the road, making them difficult to steer at low speeds, especially in stop-and-go traffic. One possible solution to this problem is direct tilt control.

[0013] With direct tilt control, there is a mechanical connection between a control element and the tilting chassis, so that the driver can use the control element to control the vehicle's inclination, regardless of the cornering position, speed and centrifugal force.

[0014] Direct tilt control makes it possible to tilt the vehicle against centrifugal force. When this occurs, high forces are required to tilt the vehicle against centrifugal force. The heavier the vehicle and the higher the center of gravity, the greater the forces that must be overcome by a direct tilt control system.

[0015] Systems for direct tilt control are known in the art. US 6 402 174 B1 discloses a tilt-reclining trike with direct tilt control. This geometric design is advantageous for lightweight tilting vehicles with a low center of gravity, allowing the driver to control the tilt and thus the rolling motion of the vehicle using muscle power while lying down. Tilt control is performed using a pair of levers attached to the chassis. The same pair of levers also controls the steering. Steering is achieved by rotating the pair of levers in opposite directions around a transverse axis of the vehicle. This design of the steering control is ergonomically disadvantageous because steering requires a significant bending of the wrist angle.A further disadvantage of the chassis disclosed in US 6 402 174 B1 is the absence of a spring damper system, so that road irregularities have an undamped effect directly on the pair of levers and ultimately on the driver's hands.

[0016] EP 3 431 352 B1 and US 8 360 440 B2 disclose a direct tilt control for three-wheeled motorcycles. Here, the tilt control is not carried out by the driver using muscle power, but by an electronic control unit and an electric actuator. This is also necessary considering that the intended application involves heavy motorcycles that can reach, among other things, very high speeds. In such applications, it is advantageous for safety reasons to implement an electronic tilt control, which has a lower error rate compared to the human error rate. Furthermore, it is advantageous to implement an electric actuator, which can apply greater forces than human muscle power. For use in a lightweight tilt-reclining vehicle with a low weight and center of gravity, such a technology is too complex.

[0017] DE 10 2012 003 894 A1 discloses a front axle device for a three-track vehicle. The front axle device enables vehicle tilt, with the tilt being coupled to the steering, so that the tilt angle depends on the steering angle. This dependency is achieved through a mechanical coupling that cannot be influenced by the driver while driving. Thus, the dependency can only be advantageously configured for a narrow speed range. For vehicles with a wide speed range, the design is disadvantageous.

[0018] The solutions known in the prior art are disadvantageous for the application of a lightweight tilting vehicle with a low center of gravity and a nearly reclining driver position, in which the driver controls the tilt using the muscle power of their arms. This problem is the basis of the invention. The aim is a tilting chassis for a tilting vehicle with direct tilt control and steering control, in which both the steering control and the tilt control can be exercised and driven ergonomically and using muscle power by the driver in a reclining seating position. Preferably, the tilting chassis should enable damped independent wheel suspension and, independently of this, a dampened roll movement of the vehicle. Preferably, the chassis should enable tilt control as independently as possible from the steering control, with both controls being able to be carried out using the same steering wheel.

[0019] The problem is solved by means of a tilting chassis in a tilting vehicle with direct tilt control and steering according to claim 1 and the dependent claims.

[0020] The tilting vehicle according to the invention with a tilting chassis with direct tilt control and steering is Fig. 1 bis Fig.5 Described using several exemplary embodiments. In all described exemplary embodiments, the tilting vehicle according to the invention is a tilting-reclining trike in which the tilting chassis acts as the front axle and the rear axle consists of a single wheel. This configuration is intended as an example and was chosen to simplify the representation in the figures. It is representative of other configurations, such as a tilting-reclining trike with a single wheel on the front axle and a tilting chassis on the rear axle, or a tilting-reclining quad with a tilting chassis on both the front and rear axles. Such alternative configurations are understood to be part of this invention.

[0021] The tilting vehicle and tilting chassis according to the invention are designed in such a way that, in addition to direct tilt control, independent wheel suspension is also possible, thus optimally damping road surface irregularities. The term independent wheel suspension refers to the feature that each suspended wheel can compress and be damped essentially independently of the other wheels. It is irrelevant which means of wheel suspension are used, such as wishbones or trailing arms. It is equally irrelevant which means of suspension and damping are used, such as coil springs or leaf springs, gas dampers or oil dampers. The term independent wheel suspension is also not limited to the presence of wheels and can, for example, also be applied to a ski-mobile, in which skis are attached to the chassis instead of wheels, so that each individual ski can compress and / or be damped essentially independently of the other skis.

[0022] The tilting chassis according to the invention is mechanically operated, and the tilting movement is controlled and driven by the driver via the handlebars. Accordingly, the driver must apply the entire force required for tilt control with their arms. This makes the tilting chassis particularly suitable for lightweight vehicles with a low center of gravity, i.e., vehicles with low rolling forces. For heavy vehicles with a high center of gravity, the required rolling forces would be too high to be overcome with the driver's bare arms, counteracting the centrifugal force.

[0023] A first embodiment of the tilting vehicle with a tilting chassis with direct tilt control and steering comprises a vehicle frame (1), a driver's seat (16), a rear wheel, a roll control shaft (7), a handlebar (10), at least one steering rod (11), a steering arm (6), and a tilting chassis, the latter comprising four wishbones (2), two wheel carriers (4), two tie rods (3), two wheels (5), a rocker (8), two spring dampers (9). Fig.1 , Fig.2 , Fig.3 and Fig.4 show the listed components and their connections from different perspectives and in different sectional views.

[0024] The vehicle frame (1) has connection points to the tilting chassis and the steering and is firmly connected to the driver's seat (16).

[0025] The wishbones (2) are each rotatably attached to the vehicle frame (1) and articulated to a wheel carrier (4). A wheel (5) is mounted on each wheel carrier (4). A tie rod (3) is articulated to a wheel carrier (4) at one end and to the steering arm (6) at the other end. A spring damper (9) is rotatably attached to the rocker arm (8) at one end and to a wishbone (2) at the other end.

[0026] Two wishbones (2), a spring damper (9) and a wheel carrier (4) each act as independent wheel suspension.

[0027] Fig.2 shows components and connections that are crucial for the tilting process. The roll control shaft (7) is rotatably mounted in the vehicle frame (1) in such a way that the roll control shaft (7) can rotate about a roll control axis (12). The roll control axis (12) is preferably aligned approximately parallel (0+-20°) to the vehicle's longitudinal axis and / or to the vehicle roll axis (13). The control arm (10) is rotatably mounted about a control arm axis (14) in the roll control shaft (7). The control arm axis (14) is preferably aligned orthogonally (90° +-15°) to the roll control axis (12). The rocker (8) is rigidly connected to the roll control shaft (7). Rotation of the control arm (10) about the roll control axis (12) causes the roll control shaft (7) to rotate and thus tilts the rocker (8). Due to the inclination of the rocker (8), the spring dampers (9) and finally the wishbones (2) are moved in such a way that an inclination of the vehicle frame (1) results. Such an inclination is Fig.3 shown. Characteristic of the tilting process is that the driver tilts the handlebar (10) or the vehicle frame (1) in the opposite direction to the vehicle inclination and that the handlebar axis (14) thus remains almost orthogonal (90 +-10°) to the road plane.

[0028] In the described first embodiment, the spring dampers (9) are connected directly to the rocker (8). Depending on the conditions of the vehicle frame, and in particular with a wide vehicle frame, such a connection is not always feasible. With a wide vehicle frame, it may be advantageous to connect the spring dampers (9) to the rocker (8) via deflection elements. A wide variety of deflection element designs are conceivable and are to be understood as sub-variants of the first embodiment, as long as an inclination of the rocker (8) displaces the spring damper (9) relative to the vehicle frame (1) in such a way that an inclination of the tilting vehicle results.

[0029] Fig.2 and Fig. 4 show elements and connections that are crucial for the steering process. The steering arm (6) is mounted in the vehicle frame (1) for rotation about a steering arm axis (15). The steering arm axis (15) is preferably aligned orthogonally (90° + / - 15°) to the roll control axis (12). The at least one steering rod (11) is pivotally connected to the handlebar (10) at one end and pivotally connected to the steering arm (6) at the other end, such that rotation of the handlebar (10) about the handlebar axis (14) causes rotation of the steering arm (6) about the steering arm axis (15). The tie rods (3) are each connected at one end in an articulated manner to the steering arm (6) and at the other end in an articulated manner to a wheel carrier (4) in such a way that a rotation of the steering arm (6) about the steering arm axis (15) causes a steering of the wheel carriers (4) and finally of the wheels (5).

[0030] Fig.2 shows that the steering arm (10) is rotatably mounted in the roll control shaft (7) such that the rotational connecting axis between the steering arm (10) and the roll control shaft (7) is preferably orthogonal to the roll control axis (12). This orthogonality means that the steering arm (10) can be rotated about two axes, namely the roll control axis (12) and the steering arm axis (14), so that one of the rotational axes is used to control the vehicle's inclination and the other rotational axis is used to control the vehicle's steering.

[0031] Rotation of the control arm (10) around the roll control axis (12) causes rotation of the roll control shaft (7) and thus tilt of the tilting chassis. Direct tilt control is thus achieved by rotating the control arm (10) around the roll control axis (12).

[0032] Rotation of the steering arm (10) about the steering axis (14) is translated into a steering movement of the wheels (5) by means of the steering rod (11), the steering arm (6), the tie rods (3), and the wheel carriers (4). Thus, direct steering control is achieved by rotating the steering arm (10) about the steering axis (14).

[0033] In order to minimize any possible transverse influence between the tilt control and the steering control, it is advantageous to maximize the distance between the handlebar axis (14) and the steering arm axis (15).

[0034] A second embodiment of the tilting vehicle with a tilting chassis with direct tilt control and steering is based on the first embodiment, but is simplified in that the rocker (8) and the spring dampers (9) are omitted. They are replaced by a roll control leaf spring (17). The roll control leaf spring (17) extends orthogonally to the roll control axis (7) and is firmly connected to the roll control shaft (7) in the middle of the roll control leaf spring (17), such that rotation of the roll control shaft (7) tilts the roll control leaf spring (17) about the roll control axis (12). The right and left ends of the roll control leaf spring (17) in the direction of travel are connected in a rotational or articulated manner to a right and left wishbone, respectively, such that tilting the roll control leaf spring (17) tilts the connected wishbones and thus causes the tilting vehicle to tilt.

[0035] A third embodiment of the tilting vehicle with a tilting chassis with direct tilt control and steering is shown in Fig.5 shown. The third embodiment is based on the first embodiment, but is simplified in that the four wishbones (2), the rocker arms (8), and the two spring dampers (9) are omitted. They are replaced by a roll control leaf spring (17) and a rocker leaf spring (18). The roll control leaf spring (17) is firmly connected to the roll control shaft (7) in the middle of the roll control leaf spring (17) so that rotation of the roll control shaft (7 tilts the roll control leaf spring (17) about the roll control axis (12). The rocker leaf spring (18) is rotationally connected to the vehicle frame (1) in the middle of the rocker leaf spring (18) so that the rocker leaf spring (18) can rotate freely about an axis parallel to the roll control axis (12). The right and left ends of the rocker leaf spring (18) in the direction of travel are rotationally connected to a right and a left wheel carrier (4a).The right and left ends of the roll control leaf spring (17) in the direction of travel are connected for rotation to a right and left wheel carrier. Tilting the control arm (10) around the roll control axis (12) rotates the roll control shaft (7) and thus tilts the roll control leaf spring (17), causing the tilting chassis and ultimately the tilting vehicle to tilt.

[0036] Another difference between the first and the third embodiment concerns the wheel carrier and is Fig. 1 and Fig.5visible. In the first embodiment, a one-piece wheel carrier (4) is used, which is firmly connected to the wheel axle and linked to the wishbones (2) by means of ball joints. The ball joints enable the one-piece wheel carrier (4) to pivot as well as steer. In the third embodiment, a two-piece wheel carrier is used, consisting of a pivoting part (4a) and a steering knuckle (4b), wherein the steering knuckle (4b) can rotate in the pivoting part (4a) about a substantially vertical axis and thus provides the degree of freedom for steering. The third embodiment of the tilting vehicle is not restricted to a two-piece wheel carrier (4a, 4b) and can also be equipped with a one-piece wheel carrier (4).The same applies to the tilting vehicle in the first and second embodiments, which are not limited to a single-piece wheel carrier (4) and can be equipped with a two-piece wheel carrier (4a, 4b). The choice of wheel carrier type is irrelevant to the function of the tilting vehicle and is merely a matter of design. Typically, a two-piece wheel carrier (4a, 4b) allows for a higher tilt angle than a single-piece wheel carrier. The single-piece wheel carrier, on the other hand, is generally lighter and easier to manufacture.

[0037] Further embodiments of the tilting vehicle with a tilting chassis with direct tilt control and steering are conceivable, such as a combination of the first and third embodiments. In such a fourth embodiment, the rocker leaf spring (18) from the third embodiment is replaced with two wishbones (2) from the first embodiment. The essential functional principle of tilting by rotating the control arm (10) around the roll control axis (12) remains the same in all versions.

[0038] A fifth embodiment of the tilting vehicle with a tilting chassis with direct tilt control and steering is based on one of the previous embodiments, but is simplified so that the steering rods (11) and the steering knuckle (6) are omitted. Instead, tie rods (3) are directly connected to the steering rod (10) in an articulated manner, thus transmitting the steering movement from the steering rod (10) directly to the wheel carriers (4) and / or the steering knuckles (4b).

[0039] In all of the described embodiments, any rolling forces acting on the tilting vehicle are transmitted through the roll control shaft (7) to the control arm (10), so that these rolling forces must be absorbed by the driver at the control arm (10). In contrast to centrifugal force, which causes low-frequency rolling forces, road surface irregularities can cause high-frequency rolling forces. Absorbing high-frequency rolling forces at the control arm (10) impairs ride comfort. To counteract this, it is advantageous to dampen the high-frequency rolling movement. Preferably, gas pressure dampers are used for this purpose, which characteristically have high damping and, at the same time, a low or no spring rate, so that their damping effect overrides any spring effect.

[0040] In a further embodiment of the tilting vehicle according to the invention with a tilting chassis with direct tilt control and steering, two gas pressure dampers are used, wherein the gas pressure dampers are each connected at one end to the vehicle frame (1) and at the other end to the roll control shaft (7) and / or to two wishbones (2) and / or to a rocker leaf spring (18), such that a high-frequency tilting movement of the tilting chassis is dampened. In addition, lockable gas pressure dampers known from the prior art can be used, which can be locked by the driver at the push of a button. Locking the gas pressure dampers blocks the tilting movement of the vehicle if this is desired for certain reasons, such as when getting in and out of the vehicle.

Claims

1. A multi-track tilting vehicle with direct tilt control and steering, comprising a two-track tilting chassis on the front axle and / or a two-track tilting chassis on the rear axle, a vehicle frame (1), a roll control shaft (7), a steering rod (10), wheels (5) and / or skis, wherein the roll control shaft (7) is mounted in the vehicle frame (1) for rotation about a roll control axis (12), the roll control axis (12) is aligned largely parallel (0 +-20°) to the vehicle's longitudinal axis and / or to the vehicle's roll axis, the steering rod (10) is mounted in the roll control shaft (7) for rotation about a steering rod axis (14), and the steering rod axis (14) is aligned largely orthogonal (90 +-20°) to the roll control axis (12), characterized in thatthe at least one two-track tilting chassis enables tilting of the vehicle frame (1) about the vehicle roll axis and has a sprung independent wheel suspension and / or individual ski suspension, the steering rod (10) can be rotated about the roll control axis (12) and about the steering rod axis (14), a rotation of the steering rod (10) about the steering rod axis (14) causes the tilting vehicle to be steered, a rotation of the steering rod (10) about the roll control axis (12) causes the tilting vehicle to be tilted, the tilting and steering can be carried out independently of one another using the same steering rod (10) 2. Two-track tilting chassis in a tilting vehicle according to claim 1, comprising four wishbones (2), two wheel carriers (4), one rocker (8) and two spring dampers (9) for each tilting chassis, wherein two wishbones (2) are connected in a rotational or articulated manner to the vehicle frame (1) and in a rotational or articulated manner to a wheel carrier (4), one wheel carrier (4) is connected to a wheel (5) and / or a ski, one spring damper (9) is connected in a rotational or articulated manner to the rocker (8) and to a wishbone (2) directly or indirectly by means of deflection elements, the rocker (8) is firmly connected to the roll control shaft (7), characterized in thattwo wishbones (2), a spring damper (9) and a wheel carrier (4) each function as independent wheel suspension, the independent wheel suspension makes it possible to compress the respective wheels (5) and / or skis essentially independently of one another, a rotation of the handlebar (10) about the roll control axis (12) causes an inclination of the rocker (8) and thus a displacement of the spring dampers (9) or to the vehicle frame (1) and thus causes an inclination of the tilting vehicle.

3. Two-track tilting chassis in a tilting vehicle according to claim 1, comprising four wishbones (2), two wheel carriers (4) and one roll control leaf spring (17) for each tilting chassis, wherein two wishbones (2) are each connected in a rotational or articulated manner to the vehicle frame (1) and in a rotational or articulated manner to a wheel carrier (4), one wheel carrier (4) is each connected to a wheel (5) and / or a ski, the roll control shaft (7) is firmly connected to the roll control leaf spring (17) in the middle of the roll control leaf spring (17), the roll control leaf spring (17) is connected at each end to a left-hand and a right-hand wishbone in the direction of travel, characterized in thattwo wishbones (2), the roll control leaf spring (17) and a wheel carrier (4) each function as an independent wheel suspension, the independent wheel suspension makes it possible to compress the respective wheels (5) and / or skis essentially independently of one another, a rotation of the handlebar (10) about the roll control axis (12) causes an inclination of the roll control leaf spring (17) and thus an inclination of the tilting vehicle.

4. Two-track tilting chassis in a tilting vehicle according to claim 1, comprising each tilting chassis, two wishbones (2), two wheel carriers (4), and a roll control leaf spring (17), wherein the two wishbones (2) are each connected in a rotational or articulated manner to the vehicle frame (1) and in a rotational or articulated manner to a wheel carrier (4), each wheel carrier (4) is connected to a wheel (5) and / or a ski, the roll control shaft (7) is firmly connected to the roll control leaf spring (17) in the middle of the roll control leaf spring (17), the roll control leaf spring (17) is connected in a pivotal or rotational manner at the respective end to a wheel carrier (4) on the left in the direction of travel and to a wheel carrier (4) on the right in the direction of travel, characterized in thata wishbone (2), the roll control leaf spring (17) and a wheel carrier (4) each function as an independent wheel suspension, the independent wheel suspension makes it possible to compress the respective wheels (5) and / or skis essentially independently of one another, a rotation of the handlebar (10) about the roll control axis (12) causes an inclination of the roll control leaf spring (17) and thus an inclination of the tilting vehicle.

5. Two-track tilting chassis in a tilting vehicle according to claim 1, comprising each tilting chassis, two wheel carriers (4), a roll control leaf spring (17), and a rocker leaf spring (18), wherein the vehicle frame (1) is rotationally connected to the rocker leaf spring (18) in the middle of the rocker leaf spring (18), and the rocker leaf spring (18) is connected at each end in an articulated or rotational manner to a wheel carrier (4) on the left in the direction of travel and to a wheel carrier (4) on the right in the direction of travel, each wheel carrier (4) being connected to a wheel (5) and / or a ski, the roll control shaft (7) is firmly connected to the roll control leaf spring (17) in the middle of the roll control leaf spring (17), the roll control leaf spring (17) is connected at each end in an articulated or rotational manner to a wheel carrier (4) on the left in the direction of travel and to a wheel carrier (4) on the right in the direction of travel, characterized in thatthe rocker leaf spring (18), the roll control leaf spring (17) and a wheel carrier (4) function as an independent wheel suspension, the independent wheel suspension makes it possible to compress the respective wheels (5) and / or skis essentially independently of one another, a rotation of the handlebar (10) about the roll control axis (12) causes an inclination of the roll control leaf spring (17) and thus an inclination of the tilting vehicle.

6. Tilting vehicle with at least one tilting chassis according to one or more of the preceding claims, comprising two tie rods (3) per tilting chassis, wherein a respective tie rod (3) is articulated to a wheel carrier (4) and articulated to the handlebar (10), characterized in that a rotation of the handlebar (10) about the handlebar axis (14) causes a steering of the wheel carriers (4) and thus a steering of the wheels (5) and / or skis.

7. Tilting vehicle with at least one tilting chassis according to one or more of the preceding claims, each tilting chassis comprising two tie rods (3), a steering arm (6) and at least one steering rod (11), wherein the steering arm (6) is mounted rotatably about a steering arm axis (15) in the vehicle frame (1), a respective tie rod (3) is articulated to a wheel carrier (4) and articulated to the steering arm (6), the at least one steering rod (11) is articulated to the handlebar (10) and articulated to the steering arm (6), characterized in that a rotation of the handlebar (10) about the handlebar axis (14) causes a steering of the wheel carriers (4) and thus a steering of the wheels (5) and / or skis.

8. Tilting vehicle with at least one tilting chassis according to one or more of the preceding claims, comprising at least one damping element, wherein the at least one damping element is attached at one end to the vehicle frame (1) and at the other end to the roll control shaft (7) and / or to a wishbone (2) and / or to a rocker (8) and / or to a roll control leaf spring (17), characterized in that the damping element dampens the inclination of the tilting landing gear.

9. Tilting vehicle with at least one tilting chassis according to one or more of the preceding claims, comprising at least one damping element, wherein the at least one damping element is lockable, characterized in that a damping element in the unlocked state dampens a tilting movement of the tilting landing gear and a damping element in the locked state blocks a tilting of the tilting landing gear.

10. Tilting vehicle with at least one tilting chassis according to one or more of the preceding claims, comprising two wheel carriers (4) for each tilting chassis, wherein a respective wheel carrier has at least three ball-joint connections such that the ball-joint connection enables the wheel carrier to perform both a pivoting movement about the vehicle roll axis and a steering movement of the wheels.

11. Tilting vehicle with at least one tilting chassis according to one or more of the preceding claims, comprising two wheel carriers (4) per tilting chassis, wherein each wheel carrier comprises at least two parts, namely a pivoting part (4a) and a steering knuckle (4b), the steering knuckle (4b) is mounted in the pivoting part (4a) by means of an axle, the pivoting part (4a) is connected by means of two further axles to a wishbone (2) and / or to a rocker leaf spring (18) and / or to a roll control leaf spring (17), the said axles each have only one rotational degree of freedom, characterized in that the pivoting part (4a) can perform a pivoting movement around the vehicle roll axis and the steering knuckle (4b) can steer the wheels.

12. Multi-track tilting vehicle with direct tilt control and steering according to one or more of the preceding claims, comprising a driver's seat (16), wherein the driver's seat (16) is attached to the vehicle frame (1) and has a sitting and / or almost lying driver position, characterized in that the bearing point of the handlebar (10) in the roll control shaft (7) is positioned below the driver's seat level.

13. Multi-track tilting vehicle with direct tilt control and steering according to one or more of the preceding claims, characterized in that the steering axis (14) swings in the opposite direction to the vehicle inclination during a tilting process and thus remains essentially orthogonal to the road plane (90 +-10°).

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